WO1999009927A1 - Mobile transportation device for climbing steps - Google Patents
Mobile transportation device for climbing steps Download PDFInfo
- Publication number
- WO1999009927A1 WO1999009927A1 PCT/EP1998/005229 EP9805229W WO9909927A1 WO 1999009927 A1 WO1999009927 A1 WO 1999009927A1 EP 9805229 W EP9805229 W EP 9805229W WO 9909927 A1 WO9909927 A1 WO 9909927A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- impellers
- rotation
- arrangement according
- impeller
- wheels
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
Definitions
- the invention relates to a mobile transport device for overcoming steps, consisting of a frame which is equipped with a seat, preferably for people with walking difficulties, and / or with a load bearing surface and on which pairs of wheels are arranged on both sides in the transport direction , whose two impellers are pivotable about axes aligned parallel to their central axis, with this pivoting changing the positions of the impellers such that a first impeller of each pair of impellers remains on the lower level of the step, while the second impellers of the pairs of impellers Reach the upper level of the step and as a result of the swiveling, lift the transport device to the upper level of the step.
- a transport device with the aforementioned features is described in the patent specification DE 37 1 3 564 C2.
- This is an electric motor operated stair climbing device, for example wheelchairs for the disabled, with a chassis on which a pair of wheels is arranged on both sides at a mutual distance.
- These two impellers are arranged to be pivotable about separate, but jointly driven, spaced parallel shafts, the shafts each being connected eccentrically to a hub disk on which a running ring of the respective impeller is concentrically rotatably mounted.
- This device is suitable for overcoming a step which has the same height difference over its entire width.
- a major disadvantage is due to the rigid coupling of the pairs of impellers arranged on both sides of the stair climbing device and the rigid coupling of the impellers of each pair of impellers, for example, that the seat or load bearing surface cannot remain aligned horizontally if different heights have to be overcome for the individual pairs of impellers are.
- this is often the case when there are steps or steps to be overcome that have different heights transversely to the direction of travel, especially when one of the wheel pairs has to overcome one step while the other has to overcome the height difference on an inclined plane got to.
- the invention is therefore based on the object of developing a mobile transport device of the type described above in such a way that universal use is possible without reduced safety for the user.
- the object of the invention is achieved in that each impeller is driven separately and for this purpose is coupled to a separate electromechanical drive. This has the advantage that the forcibly synchronous drive of both pairs of wheels as well as the individual wheels of a pair of wheels is eliminated and each of the wheels can be subjected to a separate movement sequence that is independent of the other wheels.
- a particularly preferred embodiment of the invention provides that two pairs of wheels are provided, one of which is arranged on both sides of the direction of travel on the frame. In connection with additional support wheels to be provided, as they are also used in the prior art, this results in a simple, stable construction of the transport device.
- the two output shafts assigned to a pair of impellers are arranged at a distance l 2 ⁇ 2a from one another. This allows motion sequences for the wheels of a pair of wheels, which above all also meet the usual height of stairs.
- the rotary drives are assigned rotation angle position sensors, the measured value outputs of which are connected to an evaluation and control unit and the evaluation and control unit has control value outputs which are linked to control inputs of the rotary drives.
- a program memory in which the angle of rotation position data and movement sequences for the individual rotary drives are stored, comparators for comparing the actual angle of rotation data with the desired angle of rotation data of the rotary drives and arithmetic circuits for determining correction values from the deviations of the actual angle of rotation data from the desired angle of rotation data are provided, an output of the program memory and a measured value output of an angle of rotation position transmitter being applied to a comparator on the input side and the output of this comparator via a computing circuit, the output of which corresponds to a manipulated value output the control input of an associated rotary drive is connected.
- This configuration can serve to store the data of movement sequences and positions for each individual impeller in the program memory.
- a program can stipulate that the rotational angle positions of the two pairs of impellers, one of which is located on either side of the frame, are identical and the rotation of the cranks on which the impellers are arranged run synchronously.
- This program for example, is able to output rotation angle positions and rotation speeds for the movement of the wheels when climbing stairs over steps with the same height difference across the entire width of the steps.
- Whether the specified rotation angle specifications have been reached is checked with the help of the rotation angle position transmitters, which use their measured value outputs to convey the rotation angles actually achieved to comparators, in which the actual position of an impeller is compared with the set position and, in the event of deviations, a difference value is output to the arithmetic circuit.
- a correction value can be determined in the arithmetic circuit and applied to the control input of the rotary drive in question via the control value output, so as to cause the corresponding impeller to correct or advance in its rotation about the output axis until synchronism with the opposite, the second Impeller assigned to the lane is reached again.
- the program memory is connected to a program preselection device by means of which different operating programs can be called, at least one of the operating programs containing the synchronization of the movement sequences and rotation angles for all pairs of impellers, while at least one further operating program has different movement sequences and rotation angles for the individual Impeller pairs.
- the program memory contains programmed movement sequences for overcoming paragraphs in which, for example, height differences of 5, 10, 15 cm from lane to lane are to be overcome.
- the program preselection device which can be operated manually, for example, it is then easily possible for the user of the device or for an accompanying person to preselect the corresponding program after estimating the height difference to be overcome and to overcome the uneven paragraph with the transport device without doing so the seat or load bearing surface is inclined.
- individual program sets can be saved as operating programs for their home environment, for example for the existing staircases in and in front of the house, terrace heights, garden stairs, spiral stairs etc. can be called up manually via the program selection device as required.
- an operating program can be called up with the program preselection device, in which the angle of rotation specification for at least one pair of impellers can be influenced manually. This ensures that, in addition to the operating program stored in the program unit, the sequence of movements for at least one of the pairs of wheels can also be controlled by hand, which additionally expands the individual application of the transport device according to the invention.
- an embodiment is also within the scope of the invention, in which one of the two pairs of impellers is coupled to one of two electromechanical drives.
- two drives are provided, each of which drives an impeller from both pairs of impellers.
- These two impellers assigned to a drive should advantageously be aligned with the same angle of rotation.
- the rotary drives are connected as described above with the evaluation and control unit, with the restriction that not the angles of rotation of all four impellers can be varied relative to each other, but only the angles of rotation of the impellers that are assigned to different drives, but this is in comparison to the prior art still allows a more variable application.
- each of the running wheels has an electromechanical locking device which can be switched on when the running wheel has assumed a certain rotational angle position during the rotation around the crank axis.
- the activation and activation of the electromechanical locking device is also initiated by the evaluation and control unit and can preferably be carried out when the corresponding impeller reaches the top of a step, touches down there and the transport load through this impeller Top of the step is shifted to avoid unwanted rolling movement of the transport device.
- Fig. 1 shows the schematic diagram of the wheelchair using a pair of wheels
- Fig. 2 shows the sequence of movements of a pair of wheels when climbing stairs in five
- FIG. 3 shows a schematic diagram with the coupling of the impellers of a pair of impellers to the associated drives.
- FIG. 4 shows an example of the configuration of the evaluation and control unit Detailed description of the drawings
- a mobile transport device consisting of a frame 1, which is equipped with a seat 2 and on each side of which a pair of wheels 3 and 4 is arranged in the transport direction T. Since FIG. 1 shows a side view, the impeller pair 3 is visible, while the impeller pair 4 is covered, which is indicated by the reference number of the impeller pair 4 in brackets. For the sake of clarity, the invention is further explained below using the pair of impellers 3.
- crank 3.1 is assigned a crank 5 with the center of rotation 7 and the crank 3.2 is assigned a crank 6 with the center of rotation 8.
- the impeller 3.1 is arranged on the crank 5;
- the impeller 3.2 is arranged on the crank 6 at the same distance a from the center of rotation 8.
- the central axis of the impeller 3.1 describes the circular path 9 when the crank 5 rotates
- the central axis of the impeller 3.2 describes the circular path 1 0 when the crank 6 rotates.
- the impellers 3.1 and 3.2 are rotatably supported about their central axes.
- the centers of rotation 7, 8 are fixed in relation to the frame 1.
- the distance between the two rotational centers 7 and 8 fixed to the frame is, for example, 1, 8a.
- the transport device is equipped with a support wheel 11 which serves to increase the stability.
- the transport device is positioned in front of a step 1 2 to be overcome.
- FIG. 2 The movement sequence taking place is shown in FIG. 2 in 5 sections a) to e), each section representing the progress of the movement after a quarter turn of the cranks 5, 6.
- the position of the wheels 3.1, 3.2 shown in a) is to be regarded as the starting position in which the transport device is rolled up to step 1 2.
- the wheel After initiating the pivoting movement of the wheels 3.1 and 3.2 about the centers of rotation 7, 8 in b) the wheel reaches the upper level of stage 1 2 and supports the transport device and the load thereon against the upper level of stage 1 2.
- the impeller 3.1 lifts off from the lower level of stage 1 2 and, in the projection shown in d), approximately coincides with the impeller 3.2.
- the transport device is now already on the upper level of stage 1 2 and, as shown in e), after a further quarter of a turn of the cranks 5, 6 about the rotation centers 7, 8 again reaches the starting position shown in a).
- a drive 13 is provided for the wheel 3.1 as shown in FIG. 3 again with the pair of wheels 3 and a separate drive 14 is provided for the impeller 3.2, the impeller 3.1 being coupled via the crank 5 to the output shaft 15 of the drive 13 and the impeller 3.2 via the crank 6 being coupled to the output shaft 16 of the drive 14.
- the crank 5 is mechanically fixed to the output shaft 1 5
- the crank 6 is fixed to the output shaft 1 6.
- pivot bearings On the cranks 5, 6, at a distance a from the respective center of rotation 7, 8 stub shafts 17 and 18 are arranged.
- the pivot bearings On each of the stumps 1 7 and 1 8 pivot bearings are provided, on which the wheels 3.1, 3.2 are mounted smoothly, the pivot bearings can be both slide and roller bearings; the details of the pivot bearings are not further elaborated here.
- the drive 1 3 is also assigned a rotation angle position sensor 19 and the drive 1 4 is assigned a rotation angle position sensor 20.
- the rotary angle position sensors 19, 20 shown here symbolically have measured value outputs 21 and 22, while the drives 1 3 and 1 4 are equipped with control inputs 23 and 24.
- a program memory 28 is provided in the evaluation and control unit 25, which has 4 outputs. Each of the four outputs is assigned to the drive of one of four impellers. For the sake of clarity, only the drives 13 and 14 for the pair of impellers 3 are designated in FIG.
- the outputs of the program memory 28 assigned to the wheels 3.1 and 3.2 are each connected to a first input of two comparators 29 and 30.
- the second input of the comparator 29 is linked to the measured value output 21 of the rotary angle position sensor 19, and the second input of the comparator 30 is linked to the measured value output 22 of the rotary angle position sensor 20.
- the output of the comparator 29 is connected to the drive 1 3 via a computing circuit 31, the control value output 26 and the control input 23.
- the output of the comparator 30 is applied to the control input 24 of the drive 14 via a computing circuit 32 and the control value output 27.
- 28 rotational angle position data and movement sequences for the drives 1 3 and 14 are stored in the program memory 28.
- the rotation angle positions of the cranks 5 and 6 change due to the rotation in accordance with the rotation angle position data output by the program memory.
- the rotation angle position sensors 19 and 20 actually detect the rotation angle positions (actual positions) that are taken up and feed them to the respective comparator 29, 30 for comparison with the specified rotation angle positions (target data).
- the comparator 29 detects deviations of the actual positions from the target positions in the movement sequence of the impeller 13
- a corresponding difference value is output to the assigned arithmetic circuit 31 and a correction value is determined in the arithmetic circuit 31 based on the difference value.
- which is output via the control value output 26 to the drive 1 3 and causes a corrective advance or lag of the impeller 3.1 during rotation about the output shaft 1 5.
- the program memory 28 is connected to a program preselection device 33, with which different operating programs for the transport device stored in the program memory 28 can be called up. These operating programs can include different movement sequences for the individual drives 1 3, 14 (and for the further drives assigned to the pair of impellers 4), as already exemplified in the description of the invention.
- the impellers can be provided with locking devices, for example with a parking brake 34 indicated in FIG. 3. This makes it possible to lock the impeller, which rests on the top or bottom of a step or a shoulder, and that the transport load in the further process of lifting the. Should raise or lower the transport device to this level, whereby an unwanted horizontal movement of the transport device can be prevented by any rolling of the impeller.
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98947436A EP0934047A1 (en) | 1997-08-27 | 1998-08-18 | Mobile transportation device for climbing steps |
AU94355/98A AU9435598A (en) | 1997-08-27 | 1998-08-18 | Mobile transportation device for climbing steps |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19737339.9 | 1997-08-27 | ||
DE1997137339 DE19737339C1 (en) | 1997-08-27 | 1997-08-27 | Mobile transport unit for negotiating steps and stair-cases |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999009927A1 true WO1999009927A1 (en) | 1999-03-04 |
Family
ID=7840340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1998/005229 WO1999009927A1 (en) | 1997-08-27 | 1998-08-18 | Mobile transportation device for climbing steps |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0934047A1 (en) |
AU (1) | AU9435598A (en) |
DE (1) | DE19737339C1 (en) |
WO (1) | WO1999009927A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19912932C1 (en) * | 1999-03-22 | 2000-08-17 | Alber Ulrich Gmbh & Co Kg | Wheelchair has paired running wheels for moving up and down steps with a variable speed control to reduce the speed before reaching a step and then increasing the speed to move on the step |
US6553271B1 (en) | 1999-05-28 | 2003-04-22 | Deka Products Limited Partnership | System and method for control scheduling |
EP1186284A1 (en) * | 2000-09-08 | 2002-03-13 | Gisbert Weiss Gmbh | Wheelchair with stair climbing device |
FR2850624A1 (en) | 2003-02-05 | 2004-08-06 | Alto Btp | Towing device for transporting objects, particularly up stairs or steps, has two wheels and two parallel pads mounted on slider having a fixed part linked to a chassis, and a mobile part, where each pad has a pneumatic centering device |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57194171A (en) * | 1981-05-22 | 1982-11-29 | Toshiba Corp | Wheeled universal running device |
DE3713564A1 (en) * | 1987-04-23 | 1988-11-10 | Haas & Alber Haustechnik Und A | STAIRCASE APPARATUS, EXAMPLE FOR WHEELCHAIRS FOR MISCELLANEOUS |
US5515934A (en) * | 1994-10-17 | 1996-05-14 | Davis; Stuart D. | Agile versatile mobile robot body |
-
1997
- 1997-08-27 DE DE1997137339 patent/DE19737339C1/en not_active Expired - Fee Related
-
1998
- 1998-08-18 AU AU94355/98A patent/AU9435598A/en not_active Abandoned
- 1998-08-18 WO PCT/EP1998/005229 patent/WO1999009927A1/en not_active Application Discontinuation
- 1998-08-18 EP EP98947436A patent/EP0934047A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57194171A (en) * | 1981-05-22 | 1982-11-29 | Toshiba Corp | Wheeled universal running device |
DE3713564A1 (en) * | 1987-04-23 | 1988-11-10 | Haas & Alber Haustechnik Und A | STAIRCASE APPARATUS, EXAMPLE FOR WHEELCHAIRS FOR MISCELLANEOUS |
DE3713564C2 (en) | 1987-04-23 | 1989-05-24 | Haas & Alber Haustechnik Und Apparatebau Gmbh, 7470 Albstadt, De | |
US5515934A (en) * | 1994-10-17 | 1996-05-14 | Davis; Stuart D. | Agile versatile mobile robot body |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 007, no. 044 (M - 195) 22 February 1983 (1983-02-22) * |
Also Published As
Publication number | Publication date |
---|---|
DE19737339C1 (en) | 1998-10-29 |
EP0934047A1 (en) | 1999-08-11 |
AU9435598A (en) | 1999-03-16 |
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